The steering's lack of feel is a common complaint amongst professional reviewers. Most give the edge to the Audi A6 which traditionally has been the one with numb steering. For those looking for something more sporty in a midsize car BMW doesn't offer anything like the S6 except the M5. I would get the M5 but now need AWD. Would like to get a 550i Xdrive M Sport but want it to really feel like an M.